cmake_minimum_required(VERSION 3.8)
project(planner_pkg)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

find_package(nav2_common REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(std_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(nav2_util REQUIRED)
find_package(nav2_core REQUIRED)
find_package(nav2_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(nav2_costmap_2d REQUIRED)
find_package(pluginlib REQUIRED)
# 自定义
find_package(agv_util REQUIRED)
find_package(nav_msg_pkg REQUIRED)
find_package(rviz_util_pkg REQUIRED)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()


# 包含头文件目录
include_directories(include)
# 定义库名称
set(library_name ${PROJECT_NAME}_plugin)
# 创建共享库
add_library(${library_name} SHARED  
  src/global_astar_planner.cpp
  src/astar.cpp
  src/global_dijkstra_planner.cpp
  src/dijkstra.cpp
  src/global_fixed_planner.cpp
  src/fixed.cpp
  src/global_navfn_planner.cpp
  src/navfn.cpp
  src/planner_util.cpp)
# 指定库的依赖关系
set(dependencies
  rclcpp
  rclcpp_action
  rclcpp_lifecycle
  std_msgs
  visualization_msgs
  nav2_util
  nav2_msgs
  nav_msgs
  geometry_msgs
  builtin_interfaces
  tf2
  tf2_ros
  nav2_costmap_2d
  nav2_core
  nav_msg_pkg
  agv_util
  rviz_util_pkg
  pluginlib
)
ament_target_dependencies(${library_name} ${dependencies})
# 安装库文件到指定目录
install(TARGETS ${library_name}
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION lib/${PROJECT_NAME}
)
# 安装头文件到指定目录
install(DIRECTORY include/
  DESTINATION include/ )
# 导出插件描述文件
pluginlib_export_plugin_description_file(nav2_core planner_pkg_plugin.xml)


############ test ###########
add_executable(test_node test/test_node.cpp)

ament_target_dependencies(test_node "rclcpp" "geometry_msgs" )
# 安装规则
install(TARGETS
  test_node
  DESTINATION lib/${PROJECT_NAME})
#############################

ament_package()
